Robust vehicle steering control design based on the disturbance observer

A robust controller for lateral vehicle guidance is proposed. By adaptation of the controller compliance autonomous driving as well as different levels of cooperative driving can be realized. The controller structure is based on the disturbance observer to ensure good steady state tracking performance and disturbance attenuation. The parameter space method is applied to incorporate eigenvalue and frequency magnitude specifications into the controller design and robustness analysis due to structured and unstructured uncertainties of the vehicle dynamics and the steering system.

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“…With k = 1, which shall be assumed for the remainder of Sec. III, the structure of the DO equals the one introduced in [3]. Sec.…”

Section: Control Structurementioning

confidence: 99%

“…The disturbance observer has been successfully applied in a variety of motion control approaches, e.g. for high-speed direct drive positioning [2] or vehicle dynamics control [3]. In Sect.…”

Section: Introductionmentioning

confidence: 99%

Lateral vehicle guidance control for autonomous and cooperative driving

Walter

Nitzsche

Odenthal

et al. 2014

2014 European Control Conference (ECC)

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“…Dangerous yaw motions of a vehicle may result from unexpected yaw disturbances caused by unsymmetrical car dynamics perturbations like unilateral loss of tire pressure, side wind or braking on unilaterally icy road [18]. Additionally, the vehicle may understeer or oversteer while turning a curve or doing lane change maneuver.…”

Section: Road Vehiclesmentioning

confidence: 99%

Adaptive chattering-free model reference SMC with application to dynamic stability control of road vehicles

Demirci

Gökaşan

2010

2010 IEEE International Conference on Systems, Man and Cybernetics

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In this paper, a new design method for model reference sliding mode control (SMC) based on controller gain adaptation idea is given with application to dynamic stability control problem of road vehicles. In conventional SMC, the knowledge of bounds of uncertainties and disturbances, chattering in control signal and lack of robustness during reaching time are important problems. But, in the proposed method: 1) there is no need to the knowledge of bounds of the uncertainties and disturbances 2) there is no chattering in control signal 3) the controller is robust for all time since there is no reaching mode. The reaching time elimination and chattering avoidance are not new, the novelty of the proposed method lies in the controller structure and adaptation of the controller gain, where a new PI type gain update mechanism is introduced to make the controller overcome the uncertainties and disturbances faster and more accurately. The stability of the controller is proved by using Lyapunov's stability theory. The proposed method applied to dynamic stability control problem of road vehicles. The controller is designed by using 2DOF linear vehicle model and the simulations of the controller have been studied with 7DOF nonlinear vehicle model. The performances of the proposed dynamic stability controller have been tested in various driving conditions and the robustness of the controller against modeling and parameter uncertainties of the vehicle in addition to external yaw disturbances caused by side wind, yaw disturbance moment, etc. has been shown. The simulation results illustrate the effectiveness of the proposed controller.

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“…In the current research, AFS control mainly adopts linear control strategy, such as PID control, decoupling control, robust control and so on [1,2]. The disadvantages of linear control strategy are unfavorable control effect and most control methods highly depend on the accuracy of vehicle model.…”

Section: Introductionmentioning

confidence: 99%

Application of active disturbance rejection control strategy for active front wheel steering control

Chen

2010

2010 International Conference on Mechanic Automation and Control Engineering

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In order to overcome the problems of linear control method, which are unfavorable performance and highly depending on the accuracy of vehicle model, active disturbance rejection control(ADRC) strategy is used to complete active front wheel steering(AFS) control in this paper. According to the general principle of ADRC, a second order ADRC strategy is designed. Under the operation conditions of high speed single lane change and braking on -split road, the control performance is studied by means of simulation. The results show that the ADRC strategy can realize AFS control effectively and decrease the dependence on the accuracy of vehicle model. At the same time, the performance is better than that of PID control.

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Robust vehicle steering control design based on the disturbance observer

Cited by 35 publications

References 5 publications

Lateral vehicle guidance control for autonomous and cooperative driving

Lateral vehicle guidance control for autonomous and cooperative driving

Adaptive chattering-free model reference SMC with application to dynamic stability control of road vehicles

Application of active disturbance rejection control strategy for active front wheel steering control

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